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Copter: correct payload_place flytolocation

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Pierre Kancir 2018-08-09 14:55:54 +02:00 committed by Randy Mackay
parent 09d8a33aaf
commit 17c12dab2a
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/mode_auto.cpp
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@ -933,6 +933,7 @@ void Copter::ModeAuto::payload_place_run()
switch (nav_payload_place.state) {
case PayloadPlaceStateType_FlyToLocation:
return wp_run();
case PayloadPlaceStateType_Calibrating_Hover_Start:
case PayloadPlaceStateType_Calibrating_Hover:
return payload_place_run_loiter();
@ -1564,9 +1565,8 @@ bool Copter::ModeAuto::verify_payload_place()
if (!copter.wp_nav->reached_wp_destination()) {
return false;
}
// we're there; set loiter target
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
FALLTHROUGH;
payload_place_start();
return false;
case PayloadPlaceStateType_Calibrating_Hover_Start:
// hover for 1 second to get an idea of what our hover
// throttle looks like